I read a lot of articles and books about Reinforcement Learning and its (C)ACLA specialized algorithms. I studied pseudocodes and also some C++ implementations of these algorithms (particularly for the maze [discrete space] problem and the cart pole [continuous space] problem).

I made some C++ programmes for the iCub after I had studied the tutorial section which is available in the iCub software repository. I ran all the tutorial applications and precisely studied their source codes.

I was particularly focused on the Cartesian Interface Tutorial which shows how to control a robot’s limb in the operational space. I would like to use the Cartesian module in the first phase of my thesis because it provides coordinates of the end-effector (hand) so I can easily implement the reward function of the RL algorithm.